Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 254 / 687

226
Transferring Servo Parameters
Section 5-3
The following diagram shows the operation for saving data in the PCU.
Timing Chart for Saving
Data to the PCU Data can be saved to the PCU while MECHATROLINK communications are
stopped if the Unit Busy Flag is not ON (i.e., except when the PCU is initializ-
ing or reading/writing Memory Card backup data). SAVE DATA, WRITE DATA,
and READ DATA cannot be executed at the same time.
When saving data to the PCU is completed, the Data Transferring Flag (word
n+15, bit 14) turns OFF. When an error occurs during data transfer, the Unit
Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is
input in word n+21 of the Common Operating Memory Area. Check the error
code and perform appropriate troubleshooting.
Note If an error occurs while SAVE DATA is executing (multistart error), the data will
not be saved to the PCU's internal flash memory, and the parameter set val-
ues saved in flash memory will be those before SAVE DATA was executed.
SAVE DATA is still executed if an error occurs, but even if the data is saved
normally, the error that occurred will not be cleared. Make sure that SAVE
DATA is executed after ERROR RESET to enable identifying whether data has
been saved correctly.
5-3 Transferring Servo Parameters
Note Make sure that the equipment will not be adversely affected before changing
the Servo Parameters (WRITE SERVO PARAMETER, SAVE SERVO
PARAMETER). Refer to the Servo Drive's operation manual and always check
the effect of changing the settings before changing the Servo Parameters.
03
14
15
CPU Unit PCU
Common Operating Memory Area
n = CIO 1500 + (unit number
×
25)
Word n
Word n+16
Word n+15
SAVE DATA Bit
Data Transferring Flag (ON while transferring data)
Connection Status Flag
Data cannot be saved while this flag is ON
(MECHATROLINK communications executing).
Internal memory
Common Parameters
:
Axis Parameters
Etc.
Powerup or
restart
Internal flash memory
Common Parameters
:
Etc.
Axis Parameters
SAVE DATA Bit (Word n, bit 03)
Data Transferring Flag (Word n+15, bit 14)
Unit Busy Flag (Word n+16, bit 14)
Connection Status Flag (Word n+16, bit 15)
Data saving completed
The Data Transferring Flag remains ON for
at least one cycle time until data saving is
completed when the command to transfer
data is received from the PCU.
The status of the Unit Busy Flag does not
change when data is being saved.
Execute the SAVE DATA command while
MECHATROLINK communications are
stopped (Connection Status Flag OFF).